Two days ago I was on a support chat trying to figure out exactly this on my Note 10 +. No luck.
Try Google Voice. My work around is to use CCF (conditional call forwarding. EX: dial *715555555555. The 5's being my google voice number) and send unanswered calls to my google voice number. GV is set to do not disturb so the forwarded calls go straight to the GV VM. They get transcribed and boom I get my visual voicemail in the GV app on my phone + a voicemail notification + and email if I want.